Merge pull request #54 from rogy-AquaLab/compressed_image

画像を圧縮して送受信
rogy-AquaLab · Aug 4, 2024 · 4ff44cb · 4ff44cb
2 parents 67dba9a + 648e384
commit 4ff44cb
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Showing 2 changed files with 16 additions and 8 deletions.
diff --git a/app/imshow/imshow/imshow.py b/app/imshow/imshow/imshow.py
@@ -1,25 +1,32 @@
 import cv2
+import numpy as np
 import rclpy
 from cv_bridge import CvBridge
 from rclpy.node import Node
-from sensor_msgs.msg import Image
+from sensor_msgs.msg import CompressedImage
 
 
 class Imshow(Node):
     def __init__(self):
         super().__init__("imshow")
         self.subscription = self.create_subscription(
-            Image,
+            CompressedImage,
             "camera_image",
             self.listener_callback,
             10,
         )
         self.bridge = CvBridge()
 
     def listener_callback(self, msg):
-        frame = self.bridge.imgmsg_to_cv2(msg, "bgr8")
-        cv2.imshow("Camera", frame)
-        cv2.waitKey(1)
+        # CompressedImageデータをNumPy配列に変換
+        np_arr = np.frombuffer(msg.data, np.uint8)
+        # NumPy配列から画像をデコード
+        frame = cv2.imdecode(np_arr, cv2.IMREAD_COLOR)
+        if frame is not None:
+            cv2.imshow("Camera", frame)
+            cv2.waitKey(1)
+        else:
+            self.get_logger().error("Failed to decode image")
 
 
 def main(args=None):

diff --git a/device/camera_reader/camera_reader/camera.py b/device/camera_reader/camera_reader/camera.py
@@ -2,14 +2,14 @@
 import rclpy
 from cv_bridge import CvBridge
 from rclpy.node import Node
-from sensor_msgs.msg import Image
+from sensor_msgs.msg import CompressedImage
 from std_msgs.msg import Header
 
 
 class Camera(Node):
     def __init__(self):
         super().__init__("camera")
-        self.publisher_ = self.create_publisher(Image, "camera_image", 10)
+        self.publisher_ = self.create_publisher(CompressedImage, "camera_image", 10)
         self.timer = self.create_timer(0.01, self.timer_callback)
         param = self.declare_parameter("camera_id", 0)
         camera_id = (
@@ -32,7 +32,8 @@ def _generate_header(self) -> Header:
     def timer_callback(self):
         ret, frame = self.cap.read()
         if ret:
-            msg = self.bridge.cv2_to_imgmsg(frame, "bgr8", header=self._generate_header())
+            msg = self.bridge.cv2_to_compressed_imgmsg(frame)
+            msg.header = self._generate_header()
             self.publisher_.publish(msg)
         else:
             self.get_logger().error("Failed to capture image")